true false 1 true 10 false 8 5 Start Pulse engine 1 0 1 0 0 0 start : INPUT(1, bit) tmpStart : bit # Check clock LOAD start STORE S AND !tmpStart POP tmpStart CMPEQ DL[1] JMPF cancelStart # Configure axes 1, 2 and 3 in speed mode LOAD DL[4] STORE Bh0990 STORE Bh0991 STORE Bh0992 # Switch to running state LOAD DL[3] STORE Bh0980 cancelStart: Set ref. speed 1 3 2 1 0 0 0 start : INPUT(1, bit) refx : INPUT(2, int32) refy : INPUT(3, int32) tmpStart : bit posx : OUTPUT(1, int32) posy : OUTPUT(2, int32) # Check clock LOAD start STORE S AND !tmpStart POP tmpStart CMPEQ DL[1] JMPF cancelSwitch1 # Move at requested speed # Copy the value from the input # to the reference speed register LOAD refx STORE Dh940 LOAD refy STORE Dh944 cancelSwitch1: # Read the current position from the # position register LOAD Dh900 STORE posx LOAD Dh904 STORE posy Clock source 2000 false Set ref. speed 2 3 2 1 0 0 0 start : INPUT(1, bit) refx : INPUT(2, int32) refy : INPUT(3, int32) tmpStart : bit posx : OUTPUT(1, int32) posy : OUTPUT(2, int32) # Check clock LOAD start STORE S AND !tmpStart POP tmpStart CMPEQ DL[1] JMPF cancelSwitch2 # Move at requested speed LOAD refx STORE Dh940 LOAD refy STORE Dh944 cancelSwitch2: LOAD Dh900 STORE posx LOAD Dh904 STORE posy NOT Set ref. speed 2 1 1 0 0 0 0 refz : INPUT(1, int32) posz : OUTPUT(1, int32) # Move at requested speed LOAD refz STORE Dh948 cancelSwitch3: LOAD Dh908 STORE posz Analog input 41 true 0 Re-scale 0 4095 0 1000 true